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How to set robot position [amcl_pose (x,y)] in rviz to (0.0000,0.00000) on top left corner (User defined anywhere)?

asked 2020-05-08 08:21:40 -0600

Sylvester gravatar image

I have created a small map in the gazebo, after launching the gazebo, RVIZ, and map server the robot is loading in the middle of the map, and (x,y) position is (0.00000,0.00000) as shown in the image.

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I want to load the robot at the top-left corner of the map the position of that coordinate should be (0.00000,0.00000). How can I achieve this?

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answered 2020-05-08 09:10:41 -0600

KurtR gravatar image

Try using the '2D Pose Estimate' button located at the top center of Rviz. It will allow you to set the pose estimate manually in Rviz. Ensure that the 'Fixed Frame' is set to your map frame (typically "map") on the left sidebar of Rviz.

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that i know about 2d pose estimate to place my robot in rviz ! but my question is i want to load my robot in co -ordinate frame (not by default (0.0000,0.0000)). I want to take the robot wherever I want but where I place the robot that coordinate should become (0.0000,0.0000).

Sylvester gravatar image Sylvester  ( 2020-05-08 09:35:10 -0600 )edit

I don't think it's possible to dynamically change the origin of a map once it's loaded, you can set it with the 'origin' parameter in the yaml file if you're using 'map_server' to load maps (http://wiki.ros.org/map_server)

KurtR gravatar image KurtR  ( 2020-05-08 10:10:12 -0600 )edit

In that way already tried but it is not working

Sylvester gravatar image Sylvester  ( 2020-05-09 07:20:59 -0600 )edit

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Asked: 2020-05-08 08:21:40 -0600

Seen: 239 times

Last updated: May 08 '20